Collocated versus non-collocated control
Collocated versus non-collocated control
复制标题
并置控制与非并置控制
DOI：
--
复制
发表时间：
2011
期刊：
影响因子：
--
通讯作者：
A. Preumont
中科院分区：
文献类型：
--
作者：
A. Preumont
在前面的章节中，我们已经看到，对于轻微阻尼的柔性结构，使用并置的致动器和传感器对总是导致在虚轴附近交替的极点和零点，图6.1.a。在本章中，我们利用根轨迹技术证明了这一性质保证了一类广泛的单输入单输出(SISO)控制系统的渐近稳定性，即使系统参数受到大的扰动。这是因为根轨迹图保持相同的一般形状，并且当系统参数从它们的标称值改变时，它完全保持在左半平面内。这样的控制系统被认为在稳定性方面是稳健的。建议尽可能使用并置的执行器/传感器对。
In the foregoing chapters, we have seen that the use of collocated actuator and sensor pairs, for a lightly damped flexible structure, always leads to alternating poles and zeros near the imaginary axis, Fig.6.1.a. In this chapter, using the root locus technique, we show that this property guarantees the asymptotic stability of a wide class of single-input single-output (SISO) control systems, even if the system parameters are subject to large perturbations. This is because the root locus plot keeps the same general shape, and remains entirely within the left half plane when the system parameters are changed from their nominal values. Such a control system is said to be robust with respect to stability. The use of collocated actuator/sensor pairs is recommended whenever it is possible.